EP1547891A1 - Electric vehicle brake control, with energy recuperation - Google Patents

Electric vehicle brake control, with energy recuperation Download PDF

Info

Publication number
EP1547891A1
EP1547891A1 EP04292851A EP04292851A EP1547891A1 EP 1547891 A1 EP1547891 A1 EP 1547891A1 EP 04292851 A EP04292851 A EP 04292851A EP 04292851 A EP04292851 A EP 04292851A EP 1547891 A1 EP1547891 A1 EP 1547891A1
Authority
EP
European Patent Office
Prior art keywords
electric motor
electric
braking
braking device
electric vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04292851A
Other languages
German (de)
French (fr)
Other versions
EP1547891B1 (en
Inventor
Olivier Pape
Alain Vagner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nexter Systems SA
Original Assignee
Giat Industries SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Giat Industries SA filed Critical Giat Industries SA
Publication of EP1547891A1 publication Critical patent/EP1547891A1/en
Application granted granted Critical
Publication of EP1547891B1 publication Critical patent/EP1547891B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/58—Combined or convertible systems
    • B60T13/585—Combined or convertible systems comprising friction brakes and retarders
    • B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors

Definitions

  • the technical sector of the present invention is that braking devices of a vehicle equipped with an engine electric.
  • More and more vehicles have an engine electric powered by either storage batteries, or by an on-board generator (hybrid vehicle).
  • Such engines have the advantage of being reversible; to say that they are capable of producing electric power when they are no longer powered but they are driven in rotation by the movement of the vehicle.
  • the object of the present invention is to provide a braking device restoring a deceleration directly proportional to the pressure on the brake pedal, by combining electric braking and mechanical braking and favoring the recovery of energy, whatever the vehicle speed.
  • the subject of the invention is therefore a braking device an electric vehicle, comprising at least one engine reversible electric and mechanical braking device, an accelerator pedal position sensor, a position sensor of the brake pedal and a calculator to regulate the resistant torque applied by the electric motor according to the depression of the pedal brake and depressing the accelerator pedal, characterized in that the calculator regulates the motor electric so that the resulting torque of the combination of the torques applied by the mechanical brake and the electric motor is substantially linear and substantially proportional to the depression of the pedal brake.
  • the calculator regulates the resistive torque applied by the motor electric according to the speed of the vehicle.
  • the resistant torque applied by the electric motor is proportional to the depression of the brake pedal up to a certain threshold and then constant beyond this threshold.
  • the motor electric is powered by electric batteries and the maximum resistive torque applied by the electric motor corresponds to the torque needed to recharge the batteries electric motor power supply.
  • the vehicle has at least two axles, each being driven by at least one electric motor.
  • the device has sensors measuring the load individually applied to each axle.
  • the calculator individually regulates the torque applied by each motor electrical system so as to distribute the braking according to the loading by axles.
  • the calculator regulates the torque applied by each electric motor of way to distribute the braking according to the pressure of inflation and / or temperature of the tires.
  • the device has a dissipator of energy to dissipate quickly a large electrical power including when the capacity batteries are fully recharged and that one is in the braking phase or during a emergency braking.
  • An advantage of the device according to the invention lies in the fact that it makes it possible to obtain a braking law of the linear vehicle, braking is thus proportional to the stroke of the brake pedal.
  • FIG. 1 schematically shows a vehicle 1 equipped with a braking device according to the invention.
  • the vehicle 1 is propelled by wheels 6, each carried by an axle 8 and driven by an engine 10.
  • Each electric motor 10 is powered by capacity batteries 13.
  • the vehicle 1 has a mechanical braking system 2, for example made by jaws 2 cooperating with a disc 7 secured to the axle 8 of wheel.
  • Mechanical braking means and by opposition to electric braking occurring at the level of electric motor 10, any pneumatic braking mode, hydraulic or involving mechanical elements (jaws, pads, ...) on the wheels 6, their axles 8 or their supports, even when these mechanical elements are controlled by an electronic or electrical device.
  • the mechanical braking system is operated by the driver of the vehicle by means of a brake pedal 4.
  • a sensor 50 position of the accelerator pedal 5 and a sensor 40 of position of the brake pedal 4 are arranged so as to measure the stroke of these pedals.
  • the sensors 40 and 50 are connected to a calculator 3 that can modify the couple resistant applied by the electric motor 10 according to the depressing of the brake pedal 4 and the depressing of the accelerator pedal 5.
  • Vehicle 1 is also equipped with a parking brake 9, actuated by a parking brake control 11.
  • This brake of parking can indifferently be installed on any of the vehicle axles without interfering with the device described previously. However, for reasons of space, the parking brake will preferentially be arranged on a axle not equipped with the braking device the invention.
  • each driven by at least one motor 10 consists in equipping each axle 8 with a loading sensor 12 in order to know the loading by axle.
  • the computer 3 can regulate the torque applied by each engine 10 depending on the loading by axle 8.
  • a power dissipator 14 for example a electrical resistance
  • Such a sink allows in particular to dissipate electrical energy when 13 capacity batteries are fully recharged and that we are in the braking phase.
  • This dissipator 14 can also be used during emergency braking (eg example when the brake pedal is suddenly and totally depressed), when one needs to generate a important electric braking torque.
  • This exemplary embodiment of the invention illustrates a preferred embodiment but other modes of realization remain possible.
  • We can for example realize the invention on a vehicle has a unique electric motor for all axles, electric motor for each wheel, an electric motor for each axle or for several axles. This device applies whatever the number of axles of the vehicle.
  • the calculator 3 can also be programmed to regulate electric braking according to the speed of vehicle, the tire inflation pressure, the tire temperature, wheel lock, or any other parameter likely to influence the behavior of the vehicle in the braking phase.
  • Figures 2 and 3 show a diagram of the laws of braking according to the accelerator pedal stroke and brake.
  • curve 20 corresponds to torque applied by the mechanical brake 2 according to the brake pedal stroke 40.
  • Curve 100 corresponds to the torque applied by the motor 10, for a given speed and depending on the travel of the accelerator pedal (for the negative part of the abscissa axis) or the pedal of brake brake 40 (for the positive part of the axle of abscissa), and curve 120 is the resultant of the two pairs according to the stroke of the brake pedal 40.
  • the mechanical braking device 2 does not apply a linear torque at wheel 6 but a couple that breaks down in three stages: at first A corresponding to a release of the accelerator pedal, the electric motor 10 stops driving the wheels and has a low torque braking corresponding to the engine brake when the speed of motor rotation is less than the rotation speed wheels; in a second time B corresponding to a zero depression of the accelerator pedal and at a low stroke of the brake pedal 4, the mechanical brake 2 is almost inoperative, the mechanical brake torque is therefore substantially zero and the electric brake torque (curve 100) is proportional to the travel of the brake pedal; and for a much more frank depression of the pedal, the mechanical brake torque (curve 20) evolves significantly linearly and proportionally according to the race of the pedal 4 while the electric brake couple remains constant.
  • the energy recovered during the electric braking can advantageously be recovered to recharge the batteries capability. It is therefore necessary to limit the torque of electric brake so as not to generate power greater than that allowed by the batteries capability.
  • the curve 110 corresponds to the pair applied by the engine 10, when the speed of the vehicle is low (less than 4km / h).
  • the electric motor no longer simulates a engine brake but a disengagement situation.
  • the couple braking is then zero until the user on the brake pedal.
  • the braking torque is then proportional to the travel of the brake pedal, up to reach its maximum threshold where it remains constant.
  • the computer 3 thus makes it possible to regulate the torque resistant applied by the electric motor 10 according to the depressing of the brake pedal 4 and the depressing of the accelerator pedal 5.
  • the resulting braking torque 120 is therefore substantially linear and pre- brake pedal 4 stroke.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)
  • Braking Systems And Boosters (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The device has position sensors (50, 40) for measuring stroke of an accelerator pedal (5) and a brake pedal (4) respectively. A logic controller (3) adjusts resisting torque applied by an electric engine (10) according to brake pedal depression and acceleration pedal depression, so that resulting braking torque applied by a mechanical brake (2) and the engine is linear and proportional to the brake pedal depression.

Description

Le secteur technique de la présente invention est celui des dispositifs de freinage d'un véhicule équipé d'un moteur électrique.The technical sector of the present invention is that braking devices of a vehicle equipped with an engine electric.

De plus en plus de véhicules comportent un moteur électrique alimenté soit par des batteries d'accumulateurs, soit par un groupe électrogène embarqué (véhicule hybride). De tels moteurs ont l'avantage d'être réversibles, c'est à dire qu'ils sont capables de produire de l'énergie électrique lorsqu'ils ne sont plus alimentés en courant mais qu'ils sont entraínés en rotation par le mouvement du véhicule.More and more vehicles have an engine electric powered by either storage batteries, or by an on-board generator (hybrid vehicle). Such engines have the advantage of being reversible; to say that they are capable of producing electric power when they are no longer powered but they are driven in rotation by the movement of the vehicle.

Ainsi, il est connu d'utiliser cette propriété pour recharger les batteries d'alimentation du moteur lorsque le conducteur relâche la pédale d'accélérateur. Le couple résistant appliqué aux roues par le moteur est alors programmé pour être variable en fonction de la vitesse du véhicule, avec une diminution progressive jusqu'à l'annulation complète lorsque la vitesse du véhicule est faible (simulation d'un frein moteur puis d'un débrayage). Le freinage est quant à lui classiquement réalisé de manière mécanique.Thus, it is known to use this property for recharge the engine power batteries when the driver releases the accelerator pedal. The couple resistant applied to the wheels by the engine is then programmed to be variable depending on the speed of the vehicle, with a gradual decrease until complete cancellation when the vehicle speed is low (simulation of an engine brake then a disengagement). The braking is classically realized mechanical.

Un inconvénient majeur de l'état actuel de la technique demeure justement dans le fait que l'appui sur la pédale de frein doit être ajusté par le conducteur pour compenser la variation du couple de freinage en fonction de la vitesse, pour obtenir une décélération constante. C'est notamment le cas pour les véhicules de masse importante (par exemple les poids lourds) qui doivent maintenir une vitesse constante dans une pente de longue distance.A major drawback of the current state of the art remains precisely in the fact that the support on the pedal of brake must be adjusted by the driver to compensate for the variation of braking torque as a function of speed, to achieve a constant deceleration. This is particularly the case of large mass vehicles (eg heavy goods vehicles) which must maintain a constant speed in a long distance slope.

Un autre inconvénient de l'état actuel de la technique demeure dans le fait que le freinage mécanique n'est pas immédiat et intervient brutalement.Another disadvantage of the current state of the art remains in the fact that mechanical braking is not immediately and intervenes brutally.

Le but de la présente invention est de fournir un dispositif de freinage restituant une décélération directement proportionnelle à l'appui sur la pédale de frein, en associant freinage électrique et freinage mécanique et en privilégiant la récupération d'énergie, quelle que soit la vitesse du véhicule.The object of the present invention is to provide a braking device restoring a deceleration directly proportional to the pressure on the brake pedal, by combining electric braking and mechanical braking and favoring the recovery of energy, whatever the vehicle speed.

L'invention a donc pour objet un dispositif de freinage d'un véhicule électrique, comportant au moins un moteur électrique réversible et un dispositif de freinage mécanique, un capteur de position de la pédale d'accélérateur, un capteur de position de la pédale de frein et un calculateur permettant de réguler le couple résistant appliqué par le moteur électrique en fonction de l'enfoncement de la pédale de frein et de l'enfoncement de la pédale d'accélération, caractérisé en ce que le calculateur régule le moteur électrique de manière à ce que le couple résultant de la combinaison des couples appliqués par le frein mécanique et le moteur électrique soit sensiblement linéaire et sensiblement proportionnel à l'enfoncement de la pédale de frein.The subject of the invention is therefore a braking device an electric vehicle, comprising at least one engine reversible electric and mechanical braking device, an accelerator pedal position sensor, a position sensor of the brake pedal and a calculator to regulate the resistant torque applied by the electric motor according to the depression of the pedal brake and depressing the accelerator pedal, characterized in that the calculator regulates the motor electric so that the resulting torque of the combination of the torques applied by the mechanical brake and the electric motor is substantially linear and substantially proportional to the depression of the pedal brake.

Selon une autre caractéristique de l'invention, le calculateur régule le couple résistant appliqué par le moteur électrique en fonction de la vitesse du véhicule.According to another characteristic of the invention, the calculator regulates the resistive torque applied by the motor electric according to the speed of the vehicle.

Selon encore une autre caractéristique de l'invention, le couple résistant appliqué par le moteur électrique est du type proportionnel à l'enfoncement de la pédale de frein jusqu'à un certain seuil puis constant au-delà de ce seuil.According to yet another characteristic of the invention, the resistant torque applied by the electric motor is proportional to the depression of the brake pedal up to a certain threshold and then constant beyond this threshold.

Selon une autre caractéristique de l'invention, le moteur électrique est alimenté par des batteries électriques et le couple résistant maximal appliqué par le moteur électrique correspond au couple nécessaire au rechargement des batteries électriques d'alimentation du moteur.According to another characteristic of the invention, the motor electric is powered by electric batteries and the maximum resistive torque applied by the electric motor corresponds to the torque needed to recharge the batteries electric motor power supply.

Selon une autre caractéristique de l'invention, le véhicule comporte au moins deux essieux, chacun étant entraíné par au moins un moteur électrique.According to another characteristic of the invention, the vehicle has at least two axles, each being driven by at least one electric motor.

Selon une autre caractéristique de l'invention, le dispositif comporte des capteurs mesurant le chargement individuellement appliqué à chaque essieu.According to another characteristic of the invention, the device has sensors measuring the load individually applied to each axle.

Selon une caractéristique de l'invention, le calculateur régule individuellement le couple appliqué par chaque moteur électrique de manière à répartir le freinage en fonction du chargement par essieux.According to one characteristic of the invention, the calculator individually regulates the torque applied by each motor electrical system so as to distribute the braking according to the loading by axles.

Selon une caractéristique de l'invention le calculateur régule le couple appliqué par chaque moteur électrique de manière à répartir le freinage en fonction de la pression de gonflage et/ou de la température des pneumatiques.According to a feature of the invention the calculator regulates the torque applied by each electric motor of way to distribute the braking according to the pressure of inflation and / or temperature of the tires.

Selon une caractéristique de l'invention, le dispositif comporte un dissipateur d'énergie permettant de dissiper rapidement une importante puissance électrique notamment lorsque les batteries capacitaires sont totalement rechargée et que l'on se trouve en phase de freinage ou lors d'un freinage d'urgence.According to one characteristic of the invention, the device has a dissipator of energy to dissipate quickly a large electrical power including when the capacity batteries are fully recharged and that one is in the braking phase or during a emergency braking.

Un avantage du dispositif selon l'invention réside dans le fait qu'il permet d'obtenir une loi de freinage du véhicule linéaire, le freinage est ainsi proportionnel à la course de la pédale de frein.An advantage of the device according to the invention lies in the fact that it makes it possible to obtain a braking law of the linear vehicle, braking is thus proportional to the stroke of the brake pedal.

D'autres caractéristiques, détails et avantages de l'invention ressortiront plus clairement de la description donnée ci-après à titre indicatif en relation avec des dessins dans lesquels :

  • la figure 1 est une représentation schématique du dispositif selon l'invention,
  • la figure 2 est un diagramme illustrant le couple de freinage en fonction de la course des pédales d'accélérateur et de frein, et
  • la figure 3 est une vue agrandie de la partie centrale du diagramme représenté sur la figure 2.
Other features, details and advantages of the invention will emerge more clearly from the description given below as an indication in relation to drawings in which:
  • FIG. 1 is a schematic representation of the device according to the invention,
  • FIG. 2 is a diagram illustrating the braking torque as a function of the travel of the accelerator and brake pedals, and
  • FIG. 3 is an enlarged view of the central portion of the diagram shown in FIG.

La figure 1 représente de manière schématique un véhicule électrique 1 équipé d'un dispositif de freinage selon l'invention. Le véhicule 1 est propulsé par des roues 6, chacune portée par un essieu 8 et entraínée par un moteur électrique 10. Chaque moteur électrique 10 est alimenté par des batteries capacitaires 13. Le véhicule 1 comporte un système de freinage mécanique 2, par exemple réalisé par des mâchoires 2 coopérant avec un disque 7 solidaire de l'essieu 8 de roue. On entend par freinage mécanique, et par opposition au freinage électrique intervenant au niveau du moteur électrique 10, tout mode de freinage pneumatique, hydraulique ou faisant intervenir des éléments mécaniques (mâchoires, patins,...) sur les roues 6, leurs essieux 8 ou leurs supports, même lorsque ces éléments mécaniques sont commandés par un dispositif électronique ou électrique. Le système de freinage mécanique est actionné par le conducteur du véhicule au moyen d'une pédale 4 de frein. Un capteur 50 de position de la pédale 5 d'accélérateur et un capteur 40 de position de la pédale 4 de frein sont disposés de façon à mesurer la course de ces pédales. Les capteurs 40 et 50 sont reliés à un calculateur 3 qui peut modifier le couple résistant appliqué par le moteur électrique 10 en fonction de l'enfoncement de la pédale 4 de frein et de l'enfoncement de la pédale 5 d'accélération. Le véhicule 1 est également équipé d'un frein de stationnement 9, actionné par une commande 11 de frein de stationnement. Ce frein de stationnement peut indifféremment être installé sur l'un des essieux du véhicule sans interférer avec le dispositif décrit précédemment. Cependant, pour des raisons d'encombrement, le frein de stationnement sera préférentiellement disposé sur un essieu non équipé du dispositif de freinage selon l'invention.Figure 1 schematically shows a vehicle 1 equipped with a braking device according to the invention. The vehicle 1 is propelled by wheels 6, each carried by an axle 8 and driven by an engine 10. Each electric motor 10 is powered by capacity batteries 13. The vehicle 1 has a mechanical braking system 2, for example made by jaws 2 cooperating with a disc 7 secured to the axle 8 of wheel. Mechanical braking means, and by opposition to electric braking occurring at the level of electric motor 10, any pneumatic braking mode, hydraulic or involving mechanical elements (jaws, pads, ...) on the wheels 6, their axles 8 or their supports, even when these mechanical elements are controlled by an electronic or electrical device. The mechanical braking system is operated by the driver of the vehicle by means of a brake pedal 4. A sensor 50 position of the accelerator pedal 5 and a sensor 40 of position of the brake pedal 4 are arranged so as to measure the stroke of these pedals. The sensors 40 and 50 are connected to a calculator 3 that can modify the couple resistant applied by the electric motor 10 according to the depressing of the brake pedal 4 and the depressing of the accelerator pedal 5. Vehicle 1 is also equipped with a parking brake 9, actuated by a parking brake control 11. This brake of parking can indifferently be installed on any of the vehicle axles without interfering with the device described previously. However, for reasons of space, the parking brake will preferentially be arranged on a axle not equipped with the braking device the invention.

Une variante de réalisation, lorsque le véhicule comporte plusieurs essieux, entraíné chacun par au moins un moteur électrique 10, consiste à équiper chaque essieu 8 d'un capteur de chargement 12 afin de connaítre le chargement par essieu. Ainsi, le calculateur 3 peut réguler le couple appliqué par chaque moteur 10 en fonction du chargement par essieu 8.An alternative embodiment, when the vehicle comprises several axles, each driven by at least one motor 10, consists in equipping each axle 8 with a loading sensor 12 in order to know the loading by axle. Thus, the computer 3 can regulate the torque applied by each engine 10 depending on the loading by axle 8.

On pourra dimensionner le frein mécanique de sorte à ce qu'il assure à lui tout seul le freinage du véhicule en cas de défaillance du frein électrique. On pourra également munir le dispositif d'un dissipateur d'énergie 14 (par exemple une résistance électrique) permettant de dissiper rapidement une importante puissance électrique. Un tel dissipateur permet notamment de dissiper l'énergie électrique lorsque les batteries capacitaires 13 sont totalement rechargée et que l'on se trouve en phase de freinage. Ce dissipateur 14 peut également être utilisé lors d'un freinage d'urgence (par exemple lorsque la pédale de frein est brutalement et totalement enfoncée), lorsque l'on a besoin de générer un important couple électrique de freinage.We can size the mechanical brake so that that it alone ensures the braking of the vehicle in case failure of the electric brake. We can also provide the device of a power dissipator 14 (for example a electrical resistance) to quickly dissipate a significant electrical power. Such a sink allows in particular to dissipate electrical energy when 13 capacity batteries are fully recharged and that we are in the braking phase. This dissipator 14 can also be used during emergency braking (eg example when the brake pedal is suddenly and totally depressed), when one needs to generate a important electric braking torque.

Cet exemple de réalisation de l'invention illustre un mode préféré de réalisation mais d'autres modes de réalisation demeurent envisageables. On pourra par exemple réaliser l'invention sur un véhicule comporte un unique moteur électrique pour tous les essieux, un moteur électrique pour chaque roue, un moteur électrique pour chaque essieu ou pour plusieurs essieux. Ce dispositif s'applique quel que soit le nombre d'essieux du véhicule.This exemplary embodiment of the invention illustrates a preferred embodiment but other modes of realization remain possible. We can for example realize the invention on a vehicle has a unique electric motor for all axles, electric motor for each wheel, an electric motor for each axle or for several axles. This device applies whatever the number of axles of the vehicle.

Le calculateur 3 peut également être programmé afin de réguler le freinage électrique en fonction de la vitesse du véhicule, de la pression de gonflage des pneumatiques, de la température des pneumatiques, du blocage des roues, ou de tout autre paramètre susceptible d'influencer le comportement du véhicule en phase de freinage.The calculator 3 can also be programmed to regulate electric braking according to the speed of vehicle, the tire inflation pressure, the tire temperature, wheel lock, or any other parameter likely to influence the behavior of the vehicle in the braking phase.

Les figures 2 et 3 représentent un diagramme des lois de freinage en fonction de la course des pédales d'accélérateur et de frein. Sur ces figures, la courbe 20 correspond au couple appliqué par le frein mécanique 2 en fonction de la course de la pédale de frein 40. La courbe 100 correspond au couple appliqué par le moteur 10, pour une vitesse donnée et en fonction de la course de la pédale d'accélération (pour la partie négative de l'axe des abscisses) ou de la pédale de frein de frein 40 (pour la partie positive de l'axe des abscisses), et la courbe 120 est la résultante des deux couples en fonction de la course de la pédale de frein 40.Figures 2 and 3 show a diagram of the laws of braking according to the accelerator pedal stroke and brake. In these figures, curve 20 corresponds to torque applied by the mechanical brake 2 according to the brake pedal stroke 40. Curve 100 corresponds to the torque applied by the motor 10, for a given speed and depending on the travel of the accelerator pedal (for the negative part of the abscissa axis) or the pedal of brake brake 40 (for the positive part of the axle of abscissa), and curve 120 is the resultant of the two pairs according to the stroke of the brake pedal 40.

Le dispositif de freinage mécanique 2 n'applique pas un couple linéaire à la roue 6 mais un couple qui se décompose en trois temps : dans un premier temps A correspondant à un relâchement de la pédale d'accélérateur, le moteur électrique 10 cesse d'entraíner les roues et exerce un faible couple de freinage correspondant au frein moteur lorsque la vitesse de rotation du moteur est inférieure à la vitesse de rotation des roues; dans un second temps B correspondant à un enfoncement nul de la pédale d'accélérateur et à une faible course de la pédale de frein 4, le frein mécanique 2 est quasiment inopérant, le couple de frein mécanique est donc sensiblement nul et le couple de frein électrique (courbe 100) est proportionnel à la course de la pédale de frein; et pour un enfoncement C beaucoup plus franc de la pédale, le couple de frein mécanique (courbe 20) évolue sensiblement linéairement et proportionnellement en fonction de la course de la pédale 4 alors que le couple de frein électrique demeure constant.The mechanical braking device 2 does not apply a linear torque at wheel 6 but a couple that breaks down in three stages: at first A corresponding to a release of the accelerator pedal, the electric motor 10 stops driving the wheels and has a low torque braking corresponding to the engine brake when the speed of motor rotation is less than the rotation speed wheels; in a second time B corresponding to a zero depression of the accelerator pedal and at a low stroke of the brake pedal 4, the mechanical brake 2 is almost inoperative, the mechanical brake torque is therefore substantially zero and the electric brake torque (curve 100) is proportional to the travel of the brake pedal; and for a much more frank depression of the pedal, the mechanical brake torque (curve 20) evolves significantly linearly and proportionally according to the race of the pedal 4 while the electric brake couple remains constant.

L'énergie récupérée lors du freinage électrique peut avantageusement être récupérée pour recharger les batteries capacitaires. Il est donc nécessaire de limiter le couple de frein électrique afin de ne pas générer de puissance électrique supérieure à celle admissible par les batteries capacitaires.The energy recovered during the electric braking can advantageously be recovered to recharge the batteries capability. It is therefore necessary to limit the torque of electric brake so as not to generate power greater than that allowed by the batteries capability.

Sur la figure 3, la courbe 110 correspond au couple appliqué par le moteur 10, lorsque la vitesse du véhicule est faible (inférieure à 4km/h). Dans une telle configuration de déplacement à faible vitesse, lors du relâchement de la pédale d'accélérateur, le moteur électrique ne simule plus un frein moteur mais une situation de débrayage. Le couple de freinage est alors nul jusqu'à ce que l'utilisateur appuie sur la pédale de frein. Le couple de freinage est alors proportionnel à la course de la pédale de frein, jusqu'à atteindre son seuil maximal où il reste constant.In FIG. 3, the curve 110 corresponds to the pair applied by the engine 10, when the speed of the vehicle is low (less than 4km / h). In such a configuration of moving at low speed, when releasing the accelerator pedal, the electric motor no longer simulates a engine brake but a disengagement situation. The couple braking is then zero until the user on the brake pedal. The braking torque is then proportional to the travel of the brake pedal, up to reach its maximum threshold where it remains constant.

Le calculateur 3 permet ainsi de réguler le couple résistant appliqué par le moteur électrique 10 en fonction de l'enfoncement de la pédale 4 de frein et de l'enfoncement de la pédale 5 d'accélération. Le couple de freinage résultant 120 est donc sensiblement linéaire et prdportionnel à la course de la pédale 4 de frein.The computer 3 thus makes it possible to regulate the torque resistant applied by the electric motor 10 according to the depressing of the brake pedal 4 and the depressing of the accelerator pedal 5. The resulting braking torque 120 is therefore substantially linear and pre- brake pedal 4 stroke.

Claims (9)

Dispositif de freinage d'un véhicule électrique (1), comportant au moins un moteur électrique (10) réversible et un dispositif de freinage mécanique (2), un capteur (50) de position de la pédale (5) d'accélérateur, un capteur (40) de position de la pédale (4) de frein et un calculateur (3) permettant de réguler le couple résistant appliqué par le moteur électrique (10) en fonction de l'enfoncement de la pédale (4) de frein et de l'enfoncement de la pédale (5) d'accélération, caractérisé en ce que le calculateur (3) régule le moteur électrique (10) de manière à ce que le couple résultant de la combinaison des couples appliqués par le frein mécanique (2) et le moteur électrique (10) soit sensiblement linéaire et sensiblement proportionnel à l'enfoncement de la pédale (4) de frein.Braking device of an electric vehicle (1), comprising at least one reversible electric motor (10) and a mechanical braking device (2), a sensor (50) for the position of the accelerator pedal (5), a a sensor (40) for positioning the brake pedal (4) and a computer (3) for regulating the resistance torque applied by the electric motor (10) as a function of the depression of the brake pedal (4) and depressing the acceleration pedal (5), characterized in that the computer (3) regulates the electric motor (10) so that the torque resulting from the combination of the torques applied by the mechanical brake (2) and the electric motor (10) is substantially linear and substantially proportional to the depression of the brake pedal (4). Dispositif de freinage d'un véhicule électrique (1) selon la revendication 1, caractérisé en ce que le calculateur (3) régule le couple résistant appliqué par le moteur électrique (10) en fonction de la vitesse du véhicule.Braking device of an electric vehicle (1) according to claim 1, characterized in that the computer (3) regulates the resistive torque applied by the electric motor (10) according to the speed of the vehicle. Dispositif de freinage d'un véhicule électrique selon la revendication 2, caractérisé en ce que le couple résistant appliqué par le moteur électrique (10) est du type proportionnel à l'enfoncement de la pédale (4) de frein jusqu'à un certain seuil puis constant au-delà de ce seuil.Braking device of an electric vehicle according to claim 2, characterized in that the resistive torque applied by the electric motor (10) is of the type proportional to the depression of the brake pedal (4) up to a certain threshold then constant beyond this threshold. Dispositif de freinage d'un véhicule électrique selon la revendication 3, caractérisé en ce que le moteur électrique (10) est alimenté par des batteries électriques (13) et en ce que le couple résistant maximal appliqué par le moteur électrique (10) correspond au couple nécessaire au rechargement des batteries électriques (13) d'alimentation du moteur (10).Braking device of an electric vehicle according to claim 3, characterized in that the electric motor (10) is powered by electric batteries (13) and in that the maximum resistive torque applied by the electric motor (10) corresponds to the torque needed to recharge the electric batteries (13) of the motor supply (10). Dispositif de freinage d'un véhicule électrique selon l'une des revendications 1 à 4, caractérisé en ce que le véhicule comporte au moins deux essieux (8), chacun étant entraíné par au moins un moteur électrique.Braking device of an electric vehicle according to one of claims 1 to 4, characterized in that the vehicle comprises at least two axles (8), each being driven by at least one electric motor. Dispositif de freinage d'un véhicule électrique selon la revendication 5, caractérisé en ce qu'il comporte des capteurs (12) mesurant le chargement individuellement appliqué à chaque essieu.Braking device of an electric vehicle according to claim 5, characterized in that it comprises sensors (12) measuring the load individually applied to each axle. Dispositif de freinage d'un véhicule électrique selon la revendication 5 ou 6, caractérisé en ce que le calculateur (3) régule individuellement le couple appliqué par chaque moteur électrique (10) de manière à répartir le freinage en fonction du chargement par essieux.Braking device of an electric vehicle according to claim 5 or 6, characterized in that the computer (3) individually controls the torque applied by each electric motor (10) so as to distribute the braking as a function of the axle load. Dispositif de freinage d'un véhicule électrique selon l'une des revendications précédentes, caractérisé en ce que le calculateur (3) régule le couple appliqué par chaque moteur électrique (10) de manière à répartir le freinage en fonction de la pression de gonflage et/ou de la température des pneumatiques.Braking device of an electric vehicle according to one of the preceding claims, characterized in that the computer (3) regulates the torque applied by each electric motor (10) so as to distribute the braking as a function of the inflation pressure and / or the temperature of the tires. Dispositif de freinage d'un véhicule électrique selon l'une des revendications précédentes, caractérisé en ce qu'il comporte un dissipateur d'énergie (14) permettant de dissiper rapidement une importante puissance électrique notamment lorsque les batteries capacitaires (13) sont totalement rechargée et que l'on se trouve en phase de freinage ou lors d'un freinage d'urgence.Braking device of an electric vehicle according to one of the preceding claims, characterized in that it comprises an energy dissipater (14) for rapidly dissipating a large electrical power, particularly when the capacitor batteries (13) are fully recharged and that one is in the braking phase or during an emergency braking.
EP04292851A 2003-12-23 2004-12-02 Electric vehicle brake control, with energy recuperation Active EP1547891B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0315268 2003-12-23
FR0315268A FR2863992B1 (en) 2003-12-23 2003-12-23 BRAKE CONTROL OF AN ELECTRIC VEHICLE WITH ENERGY RECOVERY

Publications (2)

Publication Number Publication Date
EP1547891A1 true EP1547891A1 (en) 2005-06-29
EP1547891B1 EP1547891B1 (en) 2007-02-07

Family

ID=34531337

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04292851A Active EP1547891B1 (en) 2003-12-23 2004-12-02 Electric vehicle brake control, with energy recuperation

Country Status (5)

Country Link
EP (1) EP1547891B1 (en)
AT (1) ATE353297T1 (en)
DE (1) DE602004004626T2 (en)
ES (1) ES2281766T3 (en)
FR (1) FR2863992B1 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007057246A1 (en) * 2005-11-16 2007-05-24 Robert Bosch Gmbh Recovery of energy in hybrid vehicles comprising a conventional hydraulic or pneumatic brake system
EP2314486A1 (en) * 2009-09-23 2011-04-27 Scania CV AB Brake system in which friction brakes and regenerative brakes are activated according to pedal depression
DE102011055855A1 (en) 2010-12-02 2012-06-06 Avl List Gmbh Method and device for controlling the driving speed of a motor vehicle
WO2012167897A1 (en) * 2011-06-09 2012-12-13 Volkswagen Aktiengesellschaft Method for operating a vehicle with an electric drive machine
WO2013000755A1 (en) * 2011-06-30 2013-01-03 Bayerische Motoren Werke Aktiengesellschaft Method for controlling a recuperation device of a vehicle
EP2546496A1 (en) * 2010-03-09 2013-01-16 Honda Motor Co., Ltd. Accelerator pedal device
CN110422050A (en) * 2019-04-30 2019-11-08 武汉理工大学 A kind of electric car sliding brake function energy reclaiming method
CN111942171A (en) * 2019-05-14 2020-11-17 株式会社艾科赛迪 Drive unit

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11475776B2 (en) 2019-12-10 2022-10-18 Bendix Commercial Vehicle Systems Llc Utilizing axle loading information to determining braking capabilities of vehicles for platooning operations

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4691148A (en) * 1981-01-29 1987-09-01 Nicholls Robin P Control circuit for electric vehicles
US5472264A (en) * 1991-07-24 1995-12-05 Itt Automotive Europe Gmbh Brake unit for automotive vehicles with electric drive
GB2325285A (en) * 1996-02-06 1998-11-18 Bosch Gmbh Robert A motor vehicle with electric drive and friction braking
US6076899A (en) * 1996-03-01 2000-06-20 Robert Bosch Gmbh Method and apparatus for controlling the brake system of electric drive vehicles
US6378636B1 (en) * 2000-10-11 2002-04-30 Ford Global Technologies, Inc. Method and system for providing for vehicle drivability feel after accelerator release in an electric or hybrid electric vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4691148A (en) * 1981-01-29 1987-09-01 Nicholls Robin P Control circuit for electric vehicles
US5472264A (en) * 1991-07-24 1995-12-05 Itt Automotive Europe Gmbh Brake unit for automotive vehicles with electric drive
GB2325285A (en) * 1996-02-06 1998-11-18 Bosch Gmbh Robert A motor vehicle with electric drive and friction braking
US6076899A (en) * 1996-03-01 2000-06-20 Robert Bosch Gmbh Method and apparatus for controlling the brake system of electric drive vehicles
US6378636B1 (en) * 2000-10-11 2002-04-30 Ford Global Technologies, Inc. Method and system for providing for vehicle drivability feel after accelerator release in an electric or hybrid electric vehicle

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007057246A1 (en) * 2005-11-16 2007-05-24 Robert Bosch Gmbh Recovery of energy in hybrid vehicles comprising a conventional hydraulic or pneumatic brake system
EP2314486A1 (en) * 2009-09-23 2011-04-27 Scania CV AB Brake system in which friction brakes and regenerative brakes are activated according to pedal depression
EP2546496A4 (en) * 2010-03-09 2013-08-21 Honda Motor Co Ltd Accelerator pedal device
US8706374B2 (en) 2010-03-09 2014-04-22 Honda Motor Co., Ltd. Accelerator pedal device
EP2546496A1 (en) * 2010-03-09 2013-01-16 Honda Motor Co., Ltd. Accelerator pedal device
DE102011055855A1 (en) 2010-12-02 2012-06-06 Avl List Gmbh Method and device for controlling the driving speed of a motor vehicle
EP3208163A1 (en) * 2011-06-09 2017-08-23 Volkswagen Aktiengesellschaft Method for operating a vehicle with an electric drive machine
CN103582591A (en) * 2011-06-09 2014-02-12 大众汽车有限公司 Method for operating a vehicle with an electric drive machine
US9221450B2 (en) 2011-06-09 2015-12-29 Volkswagen Ag Method for operating a vehicle with an electric drive machine
WO2012167897A1 (en) * 2011-06-09 2012-12-13 Volkswagen Aktiengesellschaft Method for operating a vehicle with an electric drive machine
CN103534153A (en) * 2011-06-30 2014-01-22 宝马股份公司 Method for controlling a recuperation device of a vehicle
WO2013000755A1 (en) * 2011-06-30 2013-01-03 Bayerische Motoren Werke Aktiengesellschaft Method for controlling a recuperation device of a vehicle
CN103534153B (en) * 2011-06-30 2016-08-17 宝马股份公司 The control method of the retracting device of vehicle
US10576829B2 (en) 2011-06-30 2020-03-03 Bayerische Motoren Werke Aktiengesellschaft Method for controlling a recovery device of a vehicle
CN110422050A (en) * 2019-04-30 2019-11-08 武汉理工大学 A kind of electric car sliding brake function energy reclaiming method
CN111942171A (en) * 2019-05-14 2020-11-17 株式会社艾科赛迪 Drive unit
EP3738844A1 (en) * 2019-05-14 2020-11-18 Exedy Corporation Drive unit
CN111942171B (en) * 2019-05-14 2024-02-06 株式会社艾科赛迪 Driving unit

Also Published As

Publication number Publication date
EP1547891B1 (en) 2007-02-07
FR2863992B1 (en) 2007-03-23
ES2281766T3 (en) 2007-10-01
ATE353297T1 (en) 2007-02-15
FR2863992A1 (en) 2005-06-24
DE602004004626T2 (en) 2007-11-08
DE602004004626D1 (en) 2007-03-22

Similar Documents

Publication Publication Date Title
EP3065987B1 (en) Method and system for operating the regenerative braking of an electrical or a hybrid vehicle
FR2923422A1 (en) METHOD FOR CONTROLLING RECOVERY BRAKING OF A VEHICLE COMPRISING AT LEAST ONE ELECTRIC MOTOR
WO2008087322A2 (en) Method for braking a hybrid vehicle and method for improving a hybrid vehicle implementing said method
EP1547891B1 (en) Electric vehicle brake control, with energy recuperation
FR2948331A1 (en) HYBRID BRAKE SYSTEM FOR MOTOR VEHICLE HAVING AN IMPROVED BRAKE DISTRIBUTION
JP2019127239A (en) Brake control device, brake device including the same, and brake system
FR3092811A1 (en) METHOD AND SYSTEM FOR DRIVING AN ELECTRIC AXLE OF A TRAILER OR SEMI-TRAILER
WO2018109300A1 (en) Speed control for a vehicle
FR2946602A1 (en) METHOD FOR CONTROLLING A BRAKING SYSTEM
FR2898836A1 (en) Electric braking system for e.g. electrically powered road vehicle, has electric energy dissipating unit and electric machine dissipating electric energy and peak power more than three fifty kilowatts per ton of vehicle, respectively
FR2926771A1 (en) Vehicle e.g. hybrid vehicle, braking method for e.g. antilock braking system, involves modulating regenerative braking torque for completing dissipative braking torque to obtain braking torque equivalent to dissipative braking torque
EP2139715B1 (en) Device for controlling the electric operation mode of a hybrid power unit of a hybrid vehicle by action on the accelerator pedal
WO2013068361A1 (en) Adaptation of a simulated engine-braking instruction
FR2776607A1 (en) BRAKING REGULATION METHOD AND SYSTEM FOR MOTOR VEHICLE
CN116745181A (en) Method and device for stabilizing a two-wheeled or three-wheeled vehicle during regeneration
KR101295837B1 (en) Climbing test method of electric mopeds and motorcycles
WO2009103914A2 (en) System and method for controlling braking devices in a hybrid vehcile
FR3073186B1 (en) ELECTRICAL SUPERVISION OF A BRAKE SENSATION GENERATOR
FR3138095A1 (en) Motor vehicle braking curve mapping
WO1998023461A1 (en) Braking system for electric vehicle
EP1621432A1 (en) Apparatus and method for right/left braking force distribution at cornering
FR2834338A1 (en) Onboard diagnostic method for monitoring the state of motor vehicle shock absorbers, whereby an actual characteristic curve for a shock absorber is measured during vehicle use so that it can be compared with a reference curve
FR2756521A1 (en) Regulating downhill speed of electric vehicle
EP3478547B1 (en) Motor vehicle parking brake control device
FR3146436A1 (en) BRAKING SYSTEM OF A VEHICLE COMPRISING AN ELECTRIC MOTOR

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR LV MK YU

17P Request for examination filed

Effective date: 20051208

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20070215

REF Corresponds to:

Ref document number: 602004004626

Country of ref document: DE

Date of ref document: 20070322

Kind code of ref document: P

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: NEXTER SYSTEMS

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070508

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

NLT2 Nl: modifications (of names), taken from the european patent patent bulletin

Owner name: NEXTER SYSTEMS

Effective date: 20070411

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070709

NLV1 Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act
REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2281766

Country of ref document: ES

Kind code of ref document: T3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

26N No opposition filed

Effective date: 20071108

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070508

BERE Be: lapsed

Owner name: GIAT INDUSTRIES

Effective date: 20071231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

REG Reference to a national code

Ref country code: GB

Ref legal event code: 732E

Free format text: REGISTERED BETWEEN 20090625 AND 20090701

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071202

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070207

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070808

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20081231

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20081231

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 12

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 13

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 14

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20221122

Year of fee payment: 19

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20231121

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20231121

Year of fee payment: 20

Ref country code: FR

Payment date: 20231122

Year of fee payment: 20

Ref country code: DE

Payment date: 20231121

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240102

Year of fee payment: 20